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Turtlebot3-waffle入门教程-Realsense r200安装

Turtlebot3-waffle入门教程-Realsense r200安装

说明:

  • 介绍如何在waffle上安装Realsense r200

安装指南

Package Description
librealsense Underlying library driver for communicating with Intel® RealSense™ camera
realsense_camera ROS Intel® RealSense™ camera node for publishing camera
  • [waffle]采用deb安装驱动
$ sudo apt-get install ros-kinetic-librealsense
$ sudo apt-get install ros-kinetic-realsense-camera
  • 采用deb安装,可能会导致系统非常卡,建议出现此问题,使用源码安装

  • [waffle]源码安装驱动

  • 更新系统,

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
  • 查看核心版本:
uname -r 
  • 并确保核心 >= 4.4.0-50
  • 安装libusb-1.0 and pkg-config依赖:
sudo apt-get install libusb-1.0-0-dev pkg-config
  • 安装glfw3依赖:
sudo apt-get install libglfw3-dev
  • 安装librealsense
$ cd 
$ git clone https://github.com/IntelRealSense/librealsense
$ cd librealsense
$ mkdir build && cd build
$ cmake ../ -DBUILD_EXAMPLES=true
$ make && sudo make install
  • 库文件安装在/usr/local/lib,头文件安装在/usr/local/include,执行文件,demo,教程安装在/usr/local/bin.
  • 安装udev规则
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
  • 安装openssl包
sudo apt-get install libssl-dev
  • 打核心补丁,针对Ubuntu 14/16 LTS版本
$ cd librealsense
$ ./scripts/patch-realsense-ubuntu-xenial.sh
  • 检查是否成功
sudo dmesg | tail -n 50
  • 显示:The log should indicate that a new uvcvideo driver has been registered. 字样

  • 安装ros-kinetic-realsense-camera包

$ sudo apt-get install ros-kinetic-realsense-camera
  • 重启joule

测试运行

  • [remote-pc]运行roscore
$ roscore
  • [waffle]运行:
$ roslaunch realsense_camera r200_nodelet_default.launch
  • [remote-pc] 查看数据
rqt_image_view
  • 选择对应的话题即可显示

参考:

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标签: turtlebot3-waffle入门教程